Vehicle heading error compensation

Abstract

Systems and methods for controlling aircraft obtain at least one of ground-referenced longitudinal movement data of the aircraft and ground-referenced lateral movement data of the aircraft. A round-referenced heading of the aircraft is obtained and a heading error is calculated based on a difference between the ground-referenced heading and a target heading. A lateral movement error value is generated based on at least one of the ground-referenced longitudinal movement data and ground-referenced lateral movement data, and based on the heading error.

What is claimed is: 
     
       1. A method for controlling an aircraft, comprising:
 obtaining a longitudinal ground speed error and a lateral ground speed error of the aircraft; 
 obtaining a ground-referenced heading of the aircraft; 
 calculating a heading error based on a difference between the ground-referenced heading and a target heading; 
 generating a lateral movement error value based on the heading error, the longitudinal ground speed error, and the lateral ground speed error; 
 generating a lateral movement command signal based on the lateral movement error value to control a ground-referenced lateral speed of the aircraft; and 
 adjusting a control surface of the aircraft based on the lateral movement command signal. 
 
     
     
       2. The method of  claim 1 , wherein the lateral movement error value is further based on a longitudinal movement error corresponding to a difference between the longitudinal ground speed error and a target longitudinal movement value. 
     
     
       3. The method of  claim 2 , wherein the lateral movement error value is a ground-referenced lateral speed error value, and
 the ground-referenced lateral speed error value is generated according to the equation:
     v   err   =v   tgt   −v  cos(ψ err □)− u  sin(ψ err )
 
 
 wherein v err  is the ground-referenced lateral speed error value, v tgt  is a lateral ground speed target value, v is a detected or derived lateral ground speed value, u is a detected longitudinal ground speed value and ψ err  is a value of the heading error. 
 
     
     
       4. The method of  claim 1 , wherein generating the lateral movement error value includes calculating the lateral ground speed error based on the heading error and lateral ground speed, and the longitudinal ground speed error based on the heading error and longitudinal ground speed. 
     
     
       5. The method of  claim 1 , further comprising generating a longitudinal movement command signal based on the longitudinal movement error value to control a longitudinal movement of the aircraft. 
     
     
       6. An aircraft control system, comprising:
 a flight control computer having a data input to receive a measured longitudinal ground speed of an aircraft, a measured lateral ground speed of the aircraft and a measured heading of the aircraft, having a data processor configured to calculate a heading error based on a difference between the measured heading and a target heading and configured to generate a lateral movement error value based on the heading error error, a longitudinal ground speed error, and a lateral ground speed error, the flight control computer being configured to generate a lateral movement command signal based on the lateral movement error value to control a lateral movement of the aircraft and adjust a control surface of the aircraft based on the lateral movement command signal. 
 
     
     
       7. The aircraft control system of  claim 6 , wherein the lateral movement error value is further based on the longitudinal movement value. 
     
     
       8. The aircraft control system of  claim 7 , wherein the lateral movement error value is a lateral ground speed error value, and
 the lateral ground speed error value is generated according to the equation:
     v   err   =v   tgt   −v  cos(ψ err □)− u  sin(ψ err )
 
 
 wherein v err  is the lateral ground speed error value, v tgt  is a lateral ground speed target value, v is the measured lateral movement value, u is the measured longitudinal movement value and ψ err  is a value of the heading error. 
 
     
     
       9. The aircraft control system of  claim 6 , further comprising a rotor control mechanism configured to receive the lateral movement command signal from the flight control computer and to mechanically control rotors of the aircraft based on the lateral movement command signal. 
     
     
       10. The aircraft control system of  claim 6 , wherein the data processor of the flight control computer is further configured to generate the lateral movement error value by calculating the lateral ground speed error based on the heading error and the lateral ground speed, and the longitudinal ground speed error based on the heading error and the longitudinal ground speed. 
     
     
       11. The aircraft control system of  claim 10 , wherein the data processor of the flight control computer is further configured to generate a longitudinal movement command signal based on the longitudinal movement error value to control a longitudinal movement of the aircraft. 
     
     
       12. The aircraft control system of  claim 11 , further comprising a rotor control mechanism configured to receive the longitudinal movement command signal from the flight control computer and to mechanically control rotors of the aircraft based on the longitudinal movement command signal. 
     
     
       13. The aircraft control system of  claim 6 , wherein the data processor of the flight control computer is further configured to generate a lateral movement command signal based on the lateral movement error value to control a lateral movement of the aircraft,
 the data processor of the flight control computer is configured to generate a longitudinal movement error value based on the measured longitudinal movement value and the heading error, and 
 the data processor of the flight control computer is configured to generate a longitudinal movement command signal based on the longitudinal movement error value to control a longitudinal movement of the aircraft. 
 
     
     
       14. The aircraft control system of  claim 13 , wherein the lateral movement error value is a lateral ground speed error value,
 the lateral ground speed error value is generated according to the equation:
     v   err   =v   tgt   −v  cos(ψ err □)− u  sin(ψ err )
 
 
 wherein v err  is the lateral ground speed error value, v tgt  is a lateral ground speed target value, v is the measured lateral movement value, u is the measured longitudinal movement value and ψ err  is a value of the heading error, 
 the longitudinal movement error value is a longitudinal ground speed error value, and 
 the longitudinal ground speed error value is generated according to the equation:
     u   err   =u   tgt   −u  cos(ψ err □)− v  sin(ψ err )
 
 
 wherein u err  is the longitudinal ground speed error value, u tgt  is a longitudinal ground speed target value, u is the measured longitudinal movement value, and v is the measured lateral movement value.